Open Access
Table 3
Analysis of the clamping force with the PID controller.
| Test group | Average diameter of trunk (mm) | Clamping movement time (s) | Maximum clamping force (N) | Clamping damage length (cm) |
|---|---|---|---|---|
| 1 | 45.6 | 3.42 | 659 | 55.2 |
| 2 | 44.8 | 3.57 | 627 | 51.6 |
| 3 | 48.2 | 3.76 | 694 | 52.6 |
| 4 | 53.4 | 4.26 | 786 | 47.9 |
| 5 | 52.8 | 4.59 | 825 | 48.9 |
| 6 | 55.4 | 4.36 | 843 | 42.7 |
| 7 | 58.7 | 4.97 | 962 | 24.6 |
| 8 | 60.3 | 4.86 | 1069 | 33.4 |
| 9 | 62.7 | 4.92 | 1012 | 25.4 |
| Average | 4.30 | 830.78 | 42.48 |
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